Predicting terrain traversability for a vehicle

ABSTRACT

Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.

RELATED APPLICATION

The present application is a continuation application of U.S. patentapplication Ser. No. 16/177,376 filed on Oct. 31, 2018 which claimspriority to U.S. Provisional Patent Application Ser. No. 62/579,515filed on Oct. 31, 2017, entitled: TERRAIN MAPPING, which are allincorporated by reference in their entirety.

COPYRIGHT NOTICE

A portion of the disclosure of this patent document contains materialwhich is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the United States Patent andTrademark Office patent file or records, but otherwise reserves allcopyright rights whatsoever.

TECHNICAL FIELD

Embodiments of the present disclosure relate generally to generating andutilizing three-dimensional terrain maps for vehicular control. Otherembodiments may be described and/or claimed.

BACKGROUND

Vehicle control systems may be used to automatically orsemi-automatically move a vehicle along a desired path.Three-dimensional terrain maps are maps that depict the topography of anarea of terrain, including natural features (such as rivers, mountains,hills, ravines, etc.) and other objects associated with the terrain(such as vehicles, fences, power transmission lines, etc.). Among otherthings, embodiments of the present disclosure describe the generationand use of three-dimensional terrain maps in conjunction with vehiclecontrol systems.

BRIEF DESCRIPTION OF THE DRAWINGS

The included drawings are for illustrative purposes and serve to provideexamples of possible structures and operations for the disclosedinventive systems, apparatus, methods and computer-readable storagemedia. These drawings in no way limit any changes in form and detailthat may be made by one skilled in the art without departing from thespirit and scope of the disclosed implementations.

FIG. 1A is a block diagram of an example of a vehicle control systemaccording to various aspects of the present disclosure.

FIG. 1B is a block diagram illustrating an example of components of acontrol system according to various aspects of the present disclosure.

FIG. 2 illustrates an example of a vehicle control system coupled to avehicle.

FIG. 3 is a flow diagram illustrating an example of a process accordingto various embodiments of the present disclosure.

FIG. 4 is a flow diagram illustrating an example of another processaccording to various embodiments of the present disclosure.

FIG. 5 is a flow diagram illustrating an example of yet another processaccording to various embodiments of the present disclosure.

FIG. 6 is a flow diagram illustrating an example of yet another processaccording to various embodiments of the present disclosure.

FIG. 7-11 are diagrams of vehicles illustrating various embodiments ofthe present disclosure.

DETAILED DESCRIPTION

System Examples

FIG. 1A is a block diagram of a vehicle 50 that includes a vehiclecontrol system 100 for controlling various functions of vehicle 50,including the steering of the vehicle. Vehicle control system may alsobe used in conjunction with generating a 3D terrain map as describedbelow (for example with reference to the method described in FIG. 3 ).In the example shown in FIG. 1A, control system 100 includes a camerasystem that uses one or more sensors, such as cameras 102, to identifyfeatures 104 in a field of view 106. In alternate embodiments sensorsmay be positioned in any desired configuration around vehicle 50. Forexample, in addition facing forward, the cameras 102 may also bepositioned at the sides or back of vehicle 50. Sensors may also beconfigured to provide a 360-degree coverage around the vehicle, such asan omnidirectional camera that takes a 360 degree view image.

In the example shown in FIG. 1A, the vehicle control system 100 operatesin conjunction with a global navigation satellite system (GNSS) 108 andan inertial measurement unit (IMU) 110. Data from the GNSS may be used,for example, in conjunction with turn rates and accelerations from IMU110 for determining a heading and position of vehicle 50 that are thenused for steering vehicle 50.

Control system 100 may also use data from sensors (including opticalsensors, such as cameras 102) to create a map of an area using asimultaneous localization and mapping (SLAM) process. Terrain features104 may be represented in the 3D map The map may be geographicallylocated (also known as “geo-location”) with data from the GNSS 108. Insome embodiments, the 3D map may be stored online for access andupdating by the multiple vehicles working in an area (e.g., agriculturalvehicles working within the same field).

FIG. 1B illustrates an example of the components of a control systemB100. In some embodiments, the components of control system B100 may beused to implement a vehicle control system (such as the systems depictedin FIG. 1A and FIG. 2 ), a terrain mapping system (e.g., for generatinga 3D terrain map), or a vehicle implement control system as referencedin more detail below. Similarly, control system B100 may be used toimplement, or in conjunction with, the methods described in FIGS. 3-6 .

In this example, control system B100 includes a processor B110 incommunication with a memory B120, sensor system B130, positioning systemB140, user interface B150, and a transceiver B160. System B100 mayinclude any number of different processors, memory components, sensors,user interface components, and transceiver components, and may interactwith any other desired systems and devices in conjunction withembodiments of the present disclosure. Alternate embodiments of controlsystem B100 may have more, or fewer, components than shown in theexample depicted in FIG. 1B.

The functionality of the control system B100, including the steps of themethods described below (in whole or in part), may be implementedthrough the processor B110 executing computer-readable instructionsstored in the memory B120 of the system B100. The memory B120 may storeany computer-readable instructions and data, including softwareapplications and embedded operating code. Portions of the functionalityof the methods described herein may also be performed via softwareoperating on one or more other computing devices in communication withcontrol system B100 (e.g., via transceiver B160).

The functionality of the system B100 or other system and devicesoperating in conjunction with embodiments of the present disclosure mayalso be implemented through various hardware components storingmachine-readable instructions, such as application-specific integratedcircuits (ASICs), field-programmable gate arrays (FPGAs) and/or complexprogrammable logic devices (CPLDs). Systems according to aspects ofcertain embodiments may operate in conjunction with any desiredcombination of software and/or hardware components.

Any type of processor B110, such as an integrated circuitmicroprocessor, microcontroller, and/or digital signal processor (DSP),can be used in conjunction with embodiments of the present disclosure. Amemory B120 operating in conjunction with embodiments of the disclosuremay include any combination of different memory storage devices, such ashard drives, random access memory (RAM), read only memory (ROM), FLASHmemory, or any other type of volatile and/or nonvolatile memory. Datacan be stored in the memory B120 in any desired manner, such as in arelational database.

The sensor system B130 may include a variety of different sensors,including sensors for analyzing terrain surrounding a vehicle, such asan imaging device (e.g., a camera or optical sensor), a radar sensor,and/or a lidar sensor. Sensor system B130 may further include sensorsfor determining characteristics regarding a vehicle or terrain, such asan accelerometer, a gyroscopic sensor, and/or a magnetometer.

The positioning system B140 may include a variety of differentcomponents for determining the position of a vehicle. For example,positioning system may include a global navigation satellite system(GNSS), a local positioning system (LPS), and/or an inertial navigationsystem (INS).

The system B100 includes a user interface B150 that may include anynumber of input devices (not shown) to receive commands, data, and othersuitable input. The user interface B150 may also include any number ofoutput devices (not shown) to provides the user with data (such as avisual display of a 3D terrain map and a path to be taken by a vehicle),alerts/notifications, and other information. Typical I/O devices mayinclude display screens, mice, keyboards, printers, scanners, videocameras and other devices.

Transceiver B160 may include any number of communication devices (suchas wireless or wired transceivers, modems, network interfaces, etc.) toenable the system B100 to communicate with one or more computingdevices, as well as other systems. The control system B100 may be,include, or operate in conjunction with, a laptop computer, a desktopcomputer, a mobile subscriber communication device, a mobile phone, apersonal digital assistant (PDA), a tablet computer, an electronic bookor book reader, a digital camera, a video camera, a video game console,and/or any other suitable computing device.

Transceiver B160 may be adapted to communicate using any electroniccommunications system or method. Communication among componentsoperating in conjunction with embodiments of the present disclosure maybe performed using any suitable communication method, such as, forexample, a telephone network, an extranet, an intranet, the Internet,wireless communications, transponder communications, local area network(LAN), wide area network (WAN), virtual private network (VPN), networkedor linked devices, and/or any suitable communication format.

While some embodiments can be implemented in fully functioning computersand computer systems, various embodiments are capable of beingdistributed as a computing product in a variety of forms and are capableof being applied regardless of the particular type of machine orcomputer-readable media used to actually effect the distribution.

A tangible, non-transitory computer-readable medium can be used to storesoftware and data which when executed by a system, causes the system toperform various operations described herein. The executable software anddata may be stored on various types of computer-readable mediaincluding, for example, ROM, volatile RAM, non-volatile memory and/orcache. Other examples of computer-readable media include, but are notlimited to, recordable and non-recordable type media such as volatileand non-volatile memory devices, read only memory (ROM), random accessmemory (RAM), flash memory devices, disk storage media, optical storagemedia (e.g., Compact Disk Read-Only Memory (CD ROMS), Digital VersatileDisks (DVDs), etc.), among others.

FIG. 2 shows another example of a vehicle control system 210. In thisexample, vehicle control system 210 includes a GNSS receiver 4comprising an RF convertor (i.e., downconvertor) 16, a tracking device18, and a rover RTK receiver element 20. The receiver 4 electricallycommunicates with, and provides GNSS positioning data to, guidanceprocessor 6. Guidance processor 6 includes a graphical user interface(GUI) 26, a microprocessor 24, and a media element 22, such as a memorystorage drive. Guidance processor 6 electrically communicates with, andprovides control data to a steering control system 166 (also referred toherein as an “auto-steering system”) for controlling operation of thevehicle. Auto-steering system 166 includes a wheel movement detectionswitch 28 and an encoder 30 for interpreting guidance and steeringcommands from CPU 6.

Auto-steering system 166 may interface mechanically with the vehicle'ssteering column 34, which is mechanically attached to steering wheel 32.A control line 42 may transmit guidance data from the CPU 6 to theauto-steering system 166. An electrical subsystem 44, which powers theelectrical needs of vehicle 100, may interface directly withauto-steering system 166 through a power cable 46. The auto-steeringsubsystem 166 can be mounted to steering column 34 near the floor of thevehicle, and in proximity to the vehicle's control pedals 36.Alternatively, auto-steering system 166 can be mounted at otherlocations along steering column 34.

The auto-steering system 166 physically drives and steers vehicle 100 or110 by actively turning the steering wheel 32 via steering column 34. Amotor 45 powered by vehicle electrical subsystem 44 may power a wormdrive which powers a worm gear 48 affixed to auto-steering system 166.These components are preferably enclosed in an enclosure. In otherembodiments, auto-steering system 166 is integrated directly into thevehicle drive control system independently of steering column 34.

Three-Dimensional Terrain Mapping

Embodiments of the present disclosure may be used to generatethree-dimensional (3D) terrain maps (also known as three dimensionalelevation models). Such maps may be generated using data from a varietyof sources, such as satellite imagery, surveying using a globalnavigation satellite system (GNSS) such as a global positioning system(GPS), surveying using radar or lidar, using imagery and sensor datacaptured from ground-based-vehicles, aerial images from airplanes ordrones, and other data. The different method will have different spatialand height resolution.

FIG. 3 illustrates a method 300 for generating a 3D terrain mapaccording to various aspects of the present disclosure. In this example,method 300 includes identifying, by a terrain mapping system (e.g.,implemented by control system B100 in FIG. 1B), a ground surfacetopography for a section of terrain (305), identifying a topography ofvegetation on the section of terrain (310), generating, atwo-dimensional representation of a 3D terrain map including the groundsurface topography for the section of terrain and the topography ofvegetation on the section of terrain, displaying the 3D terrain map(320), and transmitting the 3D terrain map to another system or device(325).

In method 300, the system may identify a ground surface topography for asection of terrain (305) based on data received from a sensor system(e.g., sensor system B130 in FIG. 1B) and positioning system (e.g.,positioning system B140 in FIG. 1B). In some embodiments, sensor systemmay include one or more optical sensors, such as a digital camera.

Method 300 further includes identifying (e.g., based on the datareceived from the sensor system and positioning system) a topography ofvegetation on the section of terrain (310).

Method 300 includes generating a two-dimensional representation of athree-dimensional terrain map that includes the ground surfacetopography for the section of terrain and the topography of vegetationon the section of terrain. In some embodiments, the terrain mappingsystem implementing method 300 in FIG. 3 includes a display screen(e.g., as part of user interface B150 in FIG. 1B), and the terrainmapping system displays (320) the three-dimensional terrain map on thedisplay screen.

The system may identify a plurality of objects within the section ofterrain and provide visual indicators for each object on the 3D terrainmap. Additionally, the 3D map may include a respective visual indicatoron the map for each respective object representing the object istraversable by the vehicle. For example, the 3D map may includecolor-coded objects, with red coloring indicatingimpassible/non-traversable objects, green coloring indicatingtraversable objects, and yellow indicating that a human operator mustauthorize the plotting of a path over/through such an object by avehicle.

In some embodiments, generating the three-dimensional terrain mapincludes identifying a height of a portion of the vehicle above theground surface. Among other things, the system may determine a depth oftracks made by the vehicle based on a change in the height of theportion of the vehicle above the ground surface.

In some embodiments, for example, a 3D sensor system may be used tomeasure the terrain surface relative to the sensor mounting pose on thevehicle. In some embodiments, the sensor system may include a rotatinglidar system adapted to sweep a number of laser beams around the Z axisof the sensor at a high frequency. Additionally or alternatively, thesensor system may include an array of static laser beams, a stereocamera based on two or more cameras, or another 3D imaging or scanningdevice.

In some embodiments, 3D sensors can provide information when there is noprevious GNSS height information available/terrain model, as well asprovide very detailed maps (e.g., with a resolution of about 2 cm).Embodiments of the present disclosure may use GNSS to avoid drift inmeasuring the height of vegetation or other terrain features. In somecases, particularly if high accuracy GNSS is not available, the systemmay utilize data from prior-generated elevations maps, particularly ifthey have better accuracy than the GNSS. FIG. 7 illustrates an exampleof a vehicle with 3D sensors comprising an array of laser beams fordetermining the height of crops planted on a section of terrain relativeto the surface of the ground.

In some embodiments, the system may identify the height of vegetationabove the ground surface during periods where a vehicle is drivingbetween rows of crops such that the edge of the crops may be morevisible (e.g., because of no crops in between the rows, or sparsestubbles from previous crops).

By utilizing existing 3D terrain maps together with sensor readings, thesystem helps to create a better estimation of the current terrain and beable to better accommodate for changes. This can help improve thesteering performance, provide valuable lookahead for the height controlof wide implements for the height to be adjusted smoothly and/or avoiddamage. Embodiments of the present disclosure may also be used to helpspeed up or slow down the vehicle (e.g., via an automatic orsemi-automatic vehicle control system) to increase comfort to anoperator, or to traverse a stretch of rough terrain to reduce strain onvehicles and tools. In some cases the system may also plot a new pathfor the vehicle to avoid an area.

In some embodiments, the system may be used to detect that a vehicle issinking into the ground based on parameters such as the tire pressure orload on the vehicle, and the height of the GNSS antenna above the groundplane. For example, a measurement from a 3D sensor may be used to detectthe actual GNSS antenna height above the ground surface. If the vehicleis sinking into the ground, the change in the antenna height may be usedto measure the depth of the tracks made by the vehicle to determine thedegree to which the vehicle is sinking into the ground. FIG. 8 , forexample, depicts the height of crops relative to the ground, as well thedepth beneath the ground level of the tracks made by the vehicle.

In some embodiments, the sensor system may include camera capturingtwo-dimensional (2D) images. The images may have a variety of differentresolutions or other characteristics. For example, the camera maycapture images in the human-visible spectrum (e.g., red-green-blue or“RGB” images) or other wavelengths of interest. In another example,images may be captured in an infrared (IR) or near-infrared (NIR)spectrum. For 3D maps of agricultural terrain, for example, embodimentsof the present disclosure may use NIR images as the NIR reflectance ofplants are often high and, plant health indexes such as a normalizeddifference vegetation index (NDVI) can be calculated based on 3D mapsgenerated using NIR image data.

The 3D terrain map may be generated using data from a variety ofdifferent sources. For example, the system may generate the 3D map byfusing terrain point clouds with GNSS and IMU data to a detailed 3D mapof the terrain in a global frame of reference.

Embodiments of the present disclosure may generate 3D terrain maps ofparticular use in agricultural/farming applications. For example,generation of the three-dimensional terrain map may include determininga height of a portion of the vegetation (e.g., crops) on the terrainabove the ground surface to help determine whether a crop is ready forharvesting, identify brush that may need to be cleared from a fieldbefore planting, assess the health of crops, and other uses.

The system may also use data (in real-time or near-real-time) from thepositioning system and/or sensor system to identify discrepancies in apre-existing 3D terrain map, and update the 3D terrain map accordingly.For example, the system may modify a pre-existing feature of apre-existing three-dimensional terrain map based on the ground surfacetopography for the section of terrain and the topography of vegetationon the section of terrain to reflect, for example, the growth orharvesting of crops on the terrain.

In some embodiments, the terrain mapping system may identify a level ofmoisture in a section of terrain depicted in a 3D terrain map, andprovide information regarding the moisture. For example, the system mayidentify a first level of moisture in a first portion of the section ofterrain (e.g., a relatively dry portion of a field), and identify asecond level of moisture in a second portion of the section of terrain(e.g., a relatively wet portion of a field). In this manner, the systemhelps to identify safe (e.g., dryer) paths for vehicles planning todrive over the terrain to avoid equipment sinking or damaging the field.

Similarly, the system may identify a body of water in the section ofterrain, such as a puddle, pond, lake, stream, or river, as well asdetermining whether a particular vehicle is capable of traversing thebody of water. In determining traversability, the system may determine arate of flow of water through the body of water, as well as a depth ofthe body of water. In cases where the body of water is non-traversable,the system may identify (e.g., visually on the 3D terrain map) a pathfor the vehicle to circumvent the body of water.

The system may indicate a variety of different features on the 3Dterrain map. In addition to natural features (e.g., mountains, streams,trees, ravines, etc.) the system may indicate man-made features, such asfences, power distribution lines, roads, etc. In some embodiments, thesystem may indicate a path for one or more vehicles on the 3D terrainmap. For example, the system may draw wheel tracks across the map (e.g.,using a particular color of lines) to represent the path to be taken bya vehicle. The track lines may be spaced based on the wheel-base of thevehicle.

In some embodiments, for a map generated using GNSS data captured from avehicle traversing a section of terrain, there may only be measurementsfrom where the vehicle has been driving. The rest of the map may thus bedetermined by the system based on the measurements of the vehicle'ssensor/positioning systems. Depending on how the field is farmed, suchmeasurements may be very dense or very sparse (e.g., controlled trafficfarming where there are only tracks every 12 meters).

The system may transmit (e.g., using transceiver B160 in FIG. 1B) anelectronic communication comprising the three-dimensional map to anothersystem or device, such as a vehicle control system. For example, thesystem may transmit the 3D terrain map to a plurality of other vehiclesoperating in the same area (e.g., within the same field) to allow thevehicles to coordinate their paths and operations.

Embodiments of the present disclosure may utilize updated data to helpcontinuously improve the accuracy of 3D terrain maps. For example, thesystem may map the environment (e.g., based on current GNSS/INS autosteering systems) and then continuously updating the model of theterrain presented in the 3D map based on by data from sensors coupled toone or more vehicles traversing the terrain.

In some embodiments, the system may continuously log all sensor inputsand performance parameters of the system and transmit them to anothersystem (e.g., a cloud service) that can analyze data from multiplevehicles. By getting information from multiple vehicles and trainingprediction models based on such data, embodiments of the disclosure canhelp vehicle control systems to handle more difficult scenarios withouthuman intervention, thus providing improvements over conventionalautonomous or semi-autonomous vehicle control systems.

In some cases, the 3D terrain map may be based on a variety ofinformation from different sensors. Such information may include, forexample, 3D pointcloud data, images, GNSS data, INS data, speed/velocitydata for a vehicle (e.g., based on wheel revolutions), characteristicsof the vehicle (e.g, tire pressure) and other information.

The 3D terrain map may also be generated based on data from othersources, such as historical data (e.g., previously-generated terrainmaps), weather information, and information regarding the terrain, suchas soil information, depreciation information, the expected evaporationof water based on soil type, etc. In this manner, embodiments of thepresent disclosure can help make better plans for executing tasks, aswell as improving the ability of the system to handle unforeseenscenarios.

Embodiments of the present disclosure may also use machine learning tooptimize maps using sensor input analysis algorithms and controllers toimprove performance. The system may further deploy updated maps andrevised algorithms to maintain the accuracy of the system.

Vehicle Control Optimization

Among other things, embodiments of the present disclosure may utilize 3Dterrain maps to help improve the steering performance of vehicle controlsystems, particularly in uneven or rolling terrain. For example, 3Dterrain maps may be used to help planning paths for vehicles driving ona side slope (e.g., what slope change to anticipate). In other example,the system may utilize slip predictions to improve steering (e.g., incurves).

Additionally, in cases where a vehicle is coupled to a vehicle implement(e.g., a tractor towing a plow or disc) the direction of a passiveimplement may be determined relative to the vehicle such that a path canbe planned to compensate for farming pass to pass along terraininflection points, such as terrace tops or channel valleys. Often theseareas may show large pass to pass errors unless the driver takes over tonudge the location of the vehicle. Embodiments of the presentdisclosure, by contrast, can provide better pass-to-pass positioning,even in rolling conditions, using information from 3D terrain maps aswell as data from sensor system and positioning systems coupled to thevehicle. In FIG. 9 , for example, the system may identify the dimensionsof section of rolling terrain to be traversed by a vehicle in order toplan the path of the vehicle to cover the rolling section optimally(e.g., using three passes corresponding to the three segmented sectionsshown in FIG. 9 , in this example).

FIG. 4 illustrates an example of a method 400 that may be implemented bya vehicle control system (e.g., the systems depicted in FIGS. 1A, 1B,and/or 2). In this example, method 400 includes determining a positionof a vehicle (e.g., coupled to the vehicle control system) based on thelocation data from a positioning system (405), identifying a 3D terrainmap associated with the position of the vehicle; (410), determining apath for the vehicle based on the 3D terrain map (415), identifying aterrain feature based on data from a sensor system (420), modifying ormaintaining the path of the vehicle based on the identified terrainfeature (425), and displaying the 3D terrain map (430).

In some embodiments, the system implementing method 400 may include asteering control system (such as steering system 166 in FIG. 2 ) forcontrolling operation of the vehicle. In some embodiments, the steeringcontrol system may be implemented as a component of a user interface(e.g., user interface B150 in FIG. 1B). The steering control system maybe adapted to drive and steer the vehicle along the determined path.

The system may further include a display (e.g., as a component of userinterface B150 in FIG. 1B) and the system may display (430) atwo-dimensional representation of the three-dimensional map on thedisplay. Similarly, the system may display a visual representation ofthe path in conjunction with the display of the three-dimensional map onthe display.

The system may determine a path for the vehicle (415) based on a varietyof factors and criteria. For example, the system may generate a path foran agricultural vehicle (such as a tractor) coupled to a vehicleimplement (such as a seeder) to traverse a section of terrain (such as afield to be seeded).

The system may identify one or more terrain features (420) associatedwith a section of terrain at any suitable time, including during initialgeneration of the path or after the vehicle has begun traversing thepath. The system may analyze the identified terrain features todetermine the vehicles path (415) as well as to modify or maintain (425)an existing path for a vehicle. For example, the system may identify aterrain feature comprising a slope, identify the steepness of the slope,and determine whether the slope of the terrain feature is traversable bythe vehicle. In some embodiments, the system may halt operation of asteering control system automatically or semi-automatically controllingthe vehicle in response to identifying one or more terrain features(e.g., turning manual control over to a human operator). The system mayadditionally or alternatively generate an alert to an operator toprovide a warning about a particular terrain feature in the path of thevehicle, as well as to suggest a course of action (e.g., turning left toavoid an object, reducing/increasing tire pressure, etc.).

In many cases, it is common for vehicle implements (such as sprayers) totravel up, over, through rolling obstacles such as terraces and drainchannels. These obstacles can cause transient motion away from thedesired path as the vehicle control system tries to quickly react to thechanging terrain. For small or short obstacles it would be better if thevehicle control system did nothing to compensate for the obstacledisturbance, as the disturbance to the driven path is minimized byallowing the vehicle to drive straight over rather than taking largecontrol action to compensate for the disturbance. The controlcompensation could cause transient effects that can persist longer thanthe obstacle transient effects if no corrective control action wastaken. In some embodiments, the system may analyze the features of a 3Dterrain map to identify the duration of such a disturbance and minimizethe amount of corrections it tries to make based on what could be apotentially large error feed-back from GNSS and INS sensors.

Embodiments of the present disclosure may thus provide automatic orsemi-automatic steering systems that evaluate the terrain to betraversed by a vehicle based on historic map data (e.g., from a 3Dterrain map) and/or from sensor data collected in real-time ornear-real-time. By contrast, conventional systems may only measure thecurrent pose of the vehicle and conventional controllers maycontinuously try to get the vehicle on the path, often leading to thecontrol reaction being too late and, in some cases, not optimalconsidering the duration of the disturbance. This could be a longerchange in roll due to hillside versus a very short change in roll due asmaller hole or hump, or a short period of time involved in crossingbelow a ditch.

For example, if the system identifies a terrain features such as a holeor ditch, the system may utilize data from a sensor system (e.g.,including a lidar sensor and/or image capturing device) to evaluate ifthe terrain feature is passable and then modify the path, speed, orother characteristic of the vehicle (if necessary) in order to traversethe terrain feature in an optimal manner.

In this manner, embodiments of the present disclosure help to improvethe performance and response time of vehicle control systems, especiallywhen running at high speed. Embodiments of the present disclosure mayutilize measurements from a sensor (e.g., a measured oscillation afterhitting a bump) to determine a roughness coefficient for the surface ofthe terrain, thus helping to identify terrain with dirt clods, rocks, orother small features that may be passable by the vehicle but may warrantpassing over them at a reduced speed.

In some cases, when a vehicle (such as a tractor) is driving on slopedground, the roll and pitch angles that the vehicle experiences maychange with the direction the vehicle body is facing. For example, ifthe vehicle is facing up the slope then the vehicle is pitched up, ifthe vehicle is traveling along the slope then the vehicle is rolled toone side.

When the expected slope of the ground is known to the control system byanalyzing a 3D terrain map, the system may correlate the current vehicleroll and pitch angles with the expected roll and pitch angles, therebyallowing the system to calculate a vehicle body heading measurement.This heading measurement can be fused in with other sensor data to helpprovide a better vehicle state estimate, improving the robustness andaccuracy of the control system performance.

Additionally, vehicle (and vehicle implement) control can be improved byembodiments of the present disclosure by, for example, using a 3Dterrain map to predict future terrain changes or disturbances thevehicle may encounter. Such future information can be used to allow thevehicle to take preemptive control action to minimize the effect of afuture terrain change or disturbance.

The system may determine the path of a vehicle based on a task to beperformed by the vehicle or a desired outcome from the vehicletraversing the path. For example, the system may determine the vehicle'spath to help optimize water management, provide safety for the vehicle'soperator in hilly or sloped terrain (e.g., from rolling the vehicle),and account for land leveling and erosion (e.g., by tracking how land ischanging over time to plan the use of terraces).

Furthermore, the system may plan paths for vehicles to run across aslope compared to up/down the slope in order to conserve fuel. Thesystem may further update the 3D terrain map as the vehicle traversesthe path (e.g., to identify boundaries, hay bales, obstacles) to helpimprove the accuracy of the map. Additionally, embodiments of thepresent disclosure may be used to enhance the capability of controlsystems for vehicles with limited positioning systems (e.g., only GNSS)by utilizing the information from the vehicle's positioning system inconjunction with the information in the 3D terrain map.

In some embodiments, the system may plan the path for the vehicle basedon a 3D terrain map in order to help segment a non-convex field anddetermine the driving direction in such a field for the optimal (e.g.,based on fuel usage and time) coverage. The system may also plan thepath of a vehicle such that the guess row between two passes with animplement (such as a seeder) is constant even if the terrain is rollingto help provide better coverage in the field and allow farmers to planusage of their fields more optimally.

The system may utilize information from the 3D terrain map andinformation from a sensor system to detect the headland of a field inorder to determine a path for a vehicle that provides full implementcoverage (e.g., identifying at what points on the path to lift/lower theimplement to cover the field). In conventional systems, by contrast, auser has to define a boundary by driving along the field. Furthermore,the user also has to define any exclude boundaries (obstacles) in thefield, and the boundaries are assumed to be static for a given field.

In some embodiments, the system may identify vegetation to be planted bythe vehicle on at least a portion of terrain depicted in thethree-dimensional terrain map, determine a water management process forirrigating the vegetation, and determine the path of the vehicle toplant the vegetation that corresponds with the water management process.Similarly, the system may determine a respective expected fuelconsumption rate for each of a plurality of potential paths for thevehicle, and determine the path of the vehicle based on the determinedfuel consumption rates (e.g., selecting the path having the best fuelconsumption rate).

Additionally or alternatively, the system may determine a respectiveexpected time for the vehicle to traverse each of a plurality ofpotential paths for the vehicle, and determine the path of the vehiclebased on the determined traversal times (e.g., selecting the path havingthe shortest time). In some embodiments, selecting a path based ontravel/traversal time of a section terrain may depend on a particularterrain feature. For example, the system may determine a path tocompletely ignore the feature (e.g., if it is easily passable) or takeaction to avoid it (e.g., if the feature is impassible, would cause harmto the vehicle, would cause the vehicle to get stuck, etc.). The vehiclecontrol system may also cause the vehicle to slow down and take a longerpath to avoid a terrain feature. In some cases, the time difference maybe significant (especially for a big field), and in some embodiments thevehicle control system may determine any additional time required foravoidance and report it to a human operator (e.g., the field planner).

The system may compare a terrain feature identified based on sensor datato a corresponding terrain feature in the three-dimensional map andmodify a feature of the corresponding terrain feature in thethree-dimensional map based on the identified terrain feature.

Embodiments of the present disclosure may identify a boundary of an areato be traversed by the vehicle (e.g., a fence surrounding a field),determine a turn radius of the vehicle, and determine the path of thevehicle to traverse the identified area within the turn radius of thevehicle and without colliding with the boundary. In this manner, thesystem can help ensure that a vehicle and its implements safely traversethe headland of a field without straying into any obstacles orboundaries at the edge of the field.

The path of the vehicle may be determined based on the functions to beperformed by one or more implements coupled to (or integrated with) avehicle. For example, the system may identify one or more points alongthe path at which to engage or disengage a feature of an implementcoupled to the vehicle.

The system may modify or maintain the path of the vehicle (425) based ona variety of criteria, including based on: determining an expected timefor the vehicle to traverse or avoid the identified terrain feature,and/or determining whether the identified terrain feature is traversableby the vehicle (e.g., a fence or lake vs. a small ditch or stream).

The system may identify terrain features (420) based on a variety ofsensor data. For example, in a sensor system that includes anaccelerometer, identifying the terrain feature may include identifying aroughness level of the terrain based on data from the accelerometer asthe vehicle passes over the terrain. In some embodiments, the system mayadjust the speed for the vehicle based on the roughness level of theterrain.

In another example, in a sensor system that includes a gyroscopicsensor, identifying a terrain feature (e.g., a slope/hill) may includedetermining one or more of: a roll angle for the vehicle, a pitch anglefor the vehicle, and a yaw angle for the vehicle. In alternateembodiments, other types of sensors (e.g., an accelerometer) may also beused to determine attitude characteristics of a vehicle.

Vehicle Implement Control

FIG. 5 provides an example of a method 500 that may be used to controlthe features and functions of a variety of vehicle implements. As withall the methods described in FIGS. 3-6 , the features of method 500 maybe practiced alone, in part, or in conjunction with any of the othermethods described herein. Method 500 may be performed by a vehicleimplement control system (e.g., control system B100 shown in FIG. 1B).The vehicle implement control system may be separate from, orimplemented by, a vehicle control system.

Embodiments of the present disclosure may be implemented in conjunctionwith a variety of vehicle implements, including (for example): a seeder,a fertilizer spreader, a plow, a disc, a combine, baler, a rake, amower, a harrow bed, a tiller, a cultivator, a pesticide sprayer, amulcher, a grain cart, a trailer, a conditioner, and combinationsthereof. The vehicle implement may be integrated with a vehicle (e.g.,as in the case of a combine) or coupled to a vehicle (e.g., in the caseof a tractor coupled to a plow).

For example, a fertilizer spreader may need to adjust the spreadingpattern a lot depending on terrain to maintain an even distribution andcoverage width. Embodiments of the present disclosure can control theoperation of the fertilizer (or provide data regarding the terrain tothe spreader itself) in order for the spreader to adjust accordingly.Similarly, modern fertilizer spreaders can adjust the width and amountof fertilizer on the go to perform precision farming variable rateapplications, and the vehicle implement control system of the presentdisclosure can help improve and optimize the spreading pattern of thespreader. In FIG. 10 , for example, a spreader is depicted with a firstsection of terrain (on the left) having a relatively higher elevationthan terrain on the right. In this example, the spreading pattern may beadjusted by the system to spread fertilizer out to about 10 meters onthe right side, and a lesser distance on the left side, to account forthe difference in the terrain.

In the example depicted in FIG. 5 , method 500 includes identifying oneor more features of a section of terrain (e.g., based on: athree-dimensional map including the section of terrain, and data from asensor system) (505), determining a position of the vehicle implement(e.g., based on data from the sensor system and the one or moreidentified terrain features) (510), and modifying a function of thevehicle implement based on the one or more identified terrain featuresand the position of the vehicle implement (515).

In some embodiments, the system may include a positioning system, andthe positioning of the vehicle implement may (additionally oralternatively to other data) be determined based on data from thepositioning system. In one particular example, the positioning systemincludes a global navigation satellite system (GNSS) and does notinclude an inertial navigation system (INS). Instead of using an INS,the system may identify one or more terrain features by comparing thethree-dimensional terrain map to data from the GNSS and data from thesensor system. In some embodiments, the system may modify thethree-dimensional map in response to comparing the three-dimensionalterrain map to data from the GNSS and data from the sensor system (e.g.,to update the 3D terrain map). The sensor system may include anysuitable number and type of sensor, including a radar sensor, a lidarsensor, and/or an imaging device (such as a camera).

In cases where the vehicle implement is coupled to a vehicle,determining the position of the vehicle implement may be based ondetermining a size, shape, and weight for the vehicle implement, andidentifying an articulation angle between the vehicle and the vehicleimplement.

In some embodiments, the vehicle implement may comprise a portion thatis adjustable, and modifying the function of the vehicle implement (515)includes adjusting the portion of the vehicle implement. For example, aportion of a vehicle implement, such as a plow or disc, may be raised(to disengage with the soil) or lowered (to engage with the soil). Thesystem may accordingly raise or lower the portion of the vehicleimplement based on, for example, a height of a determined terrainfeature (e.g., to avoid the feature with the implement and/or avoiddamage to the implement).

For example, for vehicle implements used in harvest applications withheader control, the height of a portion of the implement height can becontrolled more efficiently compared to conventional systems where suchcontrol is typically based on wheels or feelers that are close to theworking point, but provide no (or very little) ability to look ahead atterrain to be traversed.

In another example where a vehicle implement is coupled to a vehicle,modifying the function of the vehicle implement may includes identifyinga first path of the vehicle across the section of terrain andidentifying a second path of the vehicle implement across the section ofterrain, wherein the first path and the second path are different. Thismay occur, for example, in cases where the vehicle is towing theimplement behind the vehicle.

In such cases, the vehicle implement function may be modified based onthe difference between the first path and the second path. For example,the system may move a portion of the vehicle implement to avoidcollision with a terrain feature that is in the second path (for thevehicle implement) but is not in the first path (for the vehicle). Forexample, the terrain feature may include an obstacle that may damage theimplement or cause it to get stuck, such as a hole, a furrow, a body ofwater, or an obstacle extending above a ground plane of the terrain(such as boulder, tree, or another vehicle).

In some embodiments, where the vehicle implement is coupled to avehicle, determining the position of the vehicle implement may befurther based on receiving, from a system coupled to the vehicle, acurrent velocity of the vehicle and a current heading of the vehicle.For example, a vehicle control system coupled to the vehicle (e.g., asshown in FIG. 2 ) could communicate with vehicle implement controlsystem coupled to the vehicle implement control system (e.g.,implemented using system B100 in FIG. 1B) using wireless transceiverscoupled to both systems (e.g., transceiver B160 in FIG. 1B).

The system may determine the position of the vehicle implement based ondetermining a current heading of the vehicle implement. The system mayalso determine that the current heading of the vehicle is different fromthe current heading of the vehicle implement. Such a case can occur whena vehicle towing a vehicle implement is making a turn.

In some cases, the assumption that a vehicle (such as a tractor) and avehicle implement coupled to the vehicle (such as a plow coupled to thetractor) are on the same plane is not valid for fast rolling terrain,particularly when the vehicle operates at faster driving speeds and insituations where the attitude of the vehicle rolls to one side oranother due to a hole or a furrow. FIG. 11 illustrates one such example,where a vehicle towing an implement (such as a disc) has its left set ofwheels in a furrow as it moves forward. Embodiments of the presentdisclosure may utilize data from a 3D terrain map and data from a sensorsystem to determine how the terrain will be rolling and make adjustments(e.g., in the path of the vehicle or the vehicle's speed) to handleholes or furrows.

In some embodiments, the system may alleviate the need for a positioningsystem with GNSS by determining characteristics of the vehicle implement(such as size, shape, weight, geometry, etc.), and determining anarticulation angle between the vehicle implement and vehicle, and usingdata from a terrain map. In some embodiments, data from the sensor maybe used by the system to determine a surface model of the ground leveland the vehicle implement control system may be used to help control howthe implement sinks into the ground. The system may utilize the 3Dterrain map to determine the path that the implement will followrelative to the path of the vehicle coupled to the implement.

In some embodiments, the system may filter the level of detail of the 3Dterrain map based on the type of implement. For example, some implementsmay require very detailed information to control, while others (e.g.,wide implements) may need less detail.

Predicting Terrain Traversability for a Vehicle

For many vehicles, particularly for agricultural vehicles, it isimportant to be able to avoid damage to fields by traversing portions ofterrain with excess moisture. For example, driving into muddy soft partsof the field will lead to extra compaction and deep tracks that areusually undesirable. It is also important for such vehicles to avoidgetting stuck in mud pools or other bodies of water to avoid timeconsuming (and expensive) recovery efforts for the vehicle.

Additionally, given the expense of many modern agricultural vehicles andtheir cost of operation, it is beneficial for operators of such vehiclesto optimize the usage of such vehicles. One factor that may haveconsiderable impact on the operating efficiency of an agriculturalvehicle is the degree to which tracks or wheels of the vehicle slip(e.g., due to mud and wet conditions) while following a particular path.

Among other things, embodiments of the present disclosure can helpoptimize the usage of a vehicle by predicting the wheel slippage of thevehicle on the path ahead of the vehicle. For example, optimal wheelslip depends on the soil type (e.g., concrete, firm soil, tilled soil,or soft/sandy soil), but are typically in the range 8 to 15% slip.

In some embodiments, the system can report the predicted rate of wheelslippage along various points of a path to be followed by a vehicle. Fora specific vehicle, the operator (or a vehicle control system operatingin conjunction with embodiments of the disclosure) can adjust the wheelslip by changing the tyre pressure, change the weight on the vehicle orby changing the load.

For example, many modern vehicles allow tire pressure to be inflated ordeflated during operation in the field. The weight of a vehicle orimplement coupled to the vehicle may be changed by changing the ballast(additional weights) on the vehicle. Weights may also be modified byplanning some tasks better based on knowledge about soft spots in thefield identified by embodiments of the present disclosure.

For example, during harvest the trailer transporting goods can be loadedin the front of the trailer first to add more weight to the tractor andreduce the weight on the trailer axles. For some implements (e.g.,carried in the 3-point hitch and by the ground when working the soil) itis possible to raise the 3-point hitch and get more of the weight fromthe implement on the tractor rear axle.

In some cases, the load of the vehicle may be changed by, for example,planning of tasks where the vehicle is either bringing material (e.g.fertilizer to the field) and gradually reducing the weight transportedas the material is distributed, or the vehicle is removing material(e.g. harvest crops where a trailer is gradually filed with material).For example, the path of the vehicle may thus be planned by the systemto traverse sections of terrain having higher levels of moisture whenthe vehicle is lighter.

In some scenarios the system may re-route the path of a vehicle to avoida specific wet area in the field and plan around it to avoid gettingstuck and/or damage to the field.

FIG. 6 illustrates an example of a method for predicting slippage of avehicle according to various aspects of the present disclosure. Method600 may be performed by a vehicle control system (such as thosedescribed previously). In this example, method 600 includes determininga position of the vehicle based on the location data from a positioningsystem (605), identifying a three-dimensional terrain map associatedwith the position of the vehicle (610), determining a path for thevehicle based on the three-dimensional terrain map (615), determining,based on data from the sensor system and the three-dimensional terrainmap, a level of moisture associated with a section of terrain along thepath of the vehicle (620). Method 600 further includes, in response todetermining the level of moisture associated with the section ofterrain, performing one or more of: adjusting a feature of the vehicleprior to traversing the section of terrain, and modifying the path ofthe vehicle prior to traversing the section of terrain (625), andmeasuring slippage of the vehicle while traversing a section of terrain(630).

In some embodiments, the system may determine whether the section ofterrain is traversable by the vehicle without slipping, as well aspredicting a degree of slippage (e.g., as a percentage described above)the vehicle is likely to experience traversing the section of terrain.In some embodiments, the system may determine a rate of fuel consumptionassociated with the degree of slippage. Fuel consumption rates beyond apredetermined threshold may, for example, lead to the section of terrainbeing deemed non-traversable due to the high amount of slippage andassociated fuel consumption.

In addition to predicting the likely rate of slippage, the system maymeasure slippage of the vehicle while traversing the section of terrain(630). The rate of slippage may be recorded and added to the 3D terrainmap to aid in planning future vehicle paths.

The system may adjust a variety of features of the vehicle (625) inresponse to the determined moisture level in a section of terrain. Forexample, the system may inflate or deflate one or more tires coupled tothe vehicle. The system may also modify the path of the vehicle (625)by, for example: identifying a first expected weight associated with thevehicle at a first point on the path of the vehicle; identifying asecond expected weight associated with the vehicle at a second point onthe path of the vehicle, the second weight being different than thefirst weight; and modifying the path of the vehicle to traverse thesection of terrain when the vehicle is associated with the secondexpected weight.

For example, the second weight may be less than the first weight due toconsumption (e.g., fuel) or distribution (e.g., seed or fertilizer) of amaterial carried by the vehicle or a vehicle implement coupled to thevehicle along the path of the vehicle. By contrast, the second weightmay be greater than the first weight due to addition of a materialcarried by the vehicle or a vehicle implement coupled to the vehiclealong the path of the vehicle, such as crops harvested along the pathtravelled by the vehicle and implement. In this manner, the system canplan to have a vehicle traverse a particularly wet section of a fieldwhen it is at its lightest weight (to avoid sinking), or traverse thesection at its heaviest weight to help give the vehicle or itsimplements traction to get through the section. The system may alsomodify the path of the vehicle to avoid the section of terrainaltogether.

The system may identify the level of moisture in a section of terrainbased on data from a variety of sensors. In some embodiments, forexample, the sensor system includes an imaging device, and determiningthe level of moisture associated with a section of terrain includes:capturing a first image of at least a portion of the section of theterrain at a first resolution using the imaging device; capturing asecond image of at least a portion of the section of the terrain at asecond resolution using the imaging device; capturing a third image ofat least a portion of the section of the terrain at a third resolutionusing the imaging device, wherein the first resolution is greater thanthe second resolution, and the second resolution is greater than thethird resolution; and geo-referencing the first, second, and thirdimages based on data from the positioning system and thethree-dimensional terrain map.

In some embodiments, in addition to (or as an alternative to)identifying the moisture level of a section of terrain, the system maydetermine the suitability of traversing the section of terrain based onother characteristics of the terrain. For example, such a determinationmay be made based on operator comfort and/or wear and tear on thevehicle or implement (e.g., based on a roughness determination for theground, avoiding particularly rough terrain that would be uncomfortablefor the operator and could cause damage to the equipment throughexcessive jolting and vibration). In another example, the system mayanalyze the type of soil in a section of terrain (e.g., based on datafrom the 3D terrain map or sensor system) to determine whether totraverse a section of terrain. In a specific example, the system may optto avoid traversing very sandy soil in favor of traversing a nearbypatch of gravel to avoid slippage of the wheels of the vehicle.

Such images may be taken of regions of interest in front of thevehicle—typically along the planned path for the vehicle. One examplecould be to take a high-resolution image patch in front of the vehicle,a medium resolution image patch further away and a third low resolutionpatch further away. The images are geo-referenced so that they can becorrelated to the measured slippage at that location.

In some embodiments, determining the level of moisture associated withthe section of terrain includes identifying a depression in the sectionof terrain based on the three-dimensional terrain map. The level ofmoisture may also be determined based on analyzing weather dataindicating an actual or forecast level of precipitation associated withthe section of terrain. Determining the level of moisture associatedwith the section of terrain may also include performing an imagerecognition process on an image of the section of terrain captured bythe image capturing device. (e.g., to identify standing water fromsurrounding soil).

In some embodiments, the geometry (slope) of the field may be measuredand geo-referenced. This can either be based on data from a GNSS or INS,data from a 3D terrain map, or from data from sensors such as lidar orstereo cameras. The slip corresponding to the image locations may bemeasured, geo-referenced and used as a label to train a slippageprediction model. Additional feature inputs may be used to train theslippage prediction model, including features of the vehicle.

For example, the current tire pressure of the vehicle, the current axlevertical load of the vehicle, and/or the current load (e.g., engineload, power take-off load, and/or traction load) may each begeo-referenced and logged and used as training features for the model.Other input features may include the model/type of the vehicle themodel/type of a vehicle implement, the load on a trailer (e.g., based onweighing sells or fill level of sprayers or slurry spreaders), the depthto which the vehicle is sinking into the ground (e.g., measured by theterrain sensors on stable ground), the speed of the vehicle, a taskbeing performed by the vehicle and/or vehicle implement, the type ofcrop being planted, tended, or harvested, and/or other features.

An axle load on the driving wheels and the load pulled may change duringoperation both due to the rough surface and variations in the soil. Theload may also change due to loading material on the vehicle or off thevehicle. For example, for an implement hitched to a vehicle (e.g., atractor) to work the soil, the load may depend on field geometry, speed,soil conditions, and other factors.

The weight may depend on how much of the implement weight that iscarried by the tractor and how much of the drawing forces that aregiving a resulting downforce on the driving axles.

Slippage measurements for different vehicles may also be used intraining a slippage prediction model. The slip input given for aspecific vehicle may be different for another vehicle with differentload, tires, etc. Accordingly, the training data gathered by the systemmay be processed to be vehicle independent and normalized. For example,if a load is changing, it may be taken into account for that data inputbefore training.

The predicted rate of slippage for a vehicle may be determined from avariety of data sources. For example, the slippage rate may bedetermined based on data from a camera/sensor or farm managementinformation system along the vehicle path. Prediction values from suchdata may be calibrated based on actual measured slip for the currentgiven state of the machine (e.g., current tire wear, load, tirepressure, weight distribution etc.).

EXAMPLES

The following are examples of embodiments of the present disclosure. Anyof the following examples may be combined with any other example (orcombination of examples), unless explicitly stated otherwise. Theforegoing description of one or more implementations providesillustration and description, but is not intended to be exhaustive or tolimit the scope of embodiments to the precise form disclosed.Modifications and variations are possible in light of the aboveteachings or may be acquired from practice of various embodiments.

1. A terrain mapping system for a vehicle, the system comprising:

a processor;

a sensor system coupled to the processor for collectingthree-dimensional terrain data;

a digital camera coupled to the processor for capturing terrain imagedata;

a positioning system coupled to the processor for determining locationdata for the vehicle; and

memory coupled to the processor and storing instructions that, whenexecuted by the processor, cause the terrain mapping system to performoperations comprising:

-   -   identifying, based on data received from the sensor system,        digital camera, and positioning system, a ground surface        topography for a section of terrain;    -   identifying, based on the data received from the sensor system,        digital camera, and positioning system, a topography of        vegetation on the section of terrain; and    -   generating a two-dimensional representation of a        three-dimensional terrain map, the three-dimensional terrain map        including the ground surface topography for the section of        terrain and the topography of vegetation on the section of        terrain.        2. The terrain mapping system of example 1, wherein generating        the three-dimensional terrain map includes identifying a        plurality of objects within the section of terrain on the        terrain map, and presenting a respective visual indicator on the        map for each respective object representing the object is        traversable by the vehicle.        3. The terrain mapping system of example 1, further comprising:

a display screen coupled to the processor, wherein the memory furtherstores instructions for causing the terrain mapping system to displaythe three-dimensional terrain map on the display screen.

4. The terrain mapping system of example 1, wherein the memory furtherstores instructions for transmitting an electronic communicationcomprising the three-dimensional map to a vehicle control system.

5. The terrain mapping system of example 1, wherein the positioningsystem comprises a global navigation satellite system (GNSS) or a localpositioning system (LPS).

6. The terrain mapping system of example 1, wherein the sensor systemincludes one or more of: a radar sensor, a lidar sensor, and an imagingdevice.

7. The terrain mapping system of example 1, wherein generating thethree-dimensional terrain map includes identifying a height of a portionof the vehicle above the ground surface.

8. The terrain mapping system of example 7, wherein generating thethree-dimensional terrain map includes determining a depth of tracksmade by the vehicle based on a change in the height of the portion ofthe vehicle above the ground surface.

9. The terrain mapping system of example 1, wherein generating thethree-dimensional terrain map includes determining a height of a portionof the vegetation on the terrain above the ground surface.

10. The terrain mapping system of example 1, wherein generating thethree-dimensional terrain map includes modifying a pre-existing featureof a pre-existing three-dimensional terrain map based on the groundsurface topography for the section of terrain and the topography ofvegetation on the section of terrain.11. The terrain mapping system of example 1, wherein thethree-dimensional terrain map is further generated based on data from asensor system coupled to a second vehicle.12. The terrain mapping system of example 1, wherein generating thethree-dimensional terrain map includes identifying a level of moisturein the section of terrain.13. The terrain mapping system of example 12, wherein identifying thelevel of moisture in the section of terrain includes identifying a firstlevel of moisture in a first portion of the section of terrain, andidentifying a second level of moisture in a second portion of thesection of terrain, and wherein the first level of moisture is differentfrom the second level of moisture.14. The terrain mapping system of example 12, wherein identifying thelevel of moisture in the section of terrain includes identifying a bodyof water in the section of terrain.15. The terrain mapping system of example 14, wherein identifying thelevel of moisture in the section of terrain includes determining whetherthe vehicle is capable of traversing the body of water.16. The terrain mapping system of example 14, wherein identifying thelevel of moisture in the section of terrain includes determining a rateof flow of water through the body of water.17. The terrain mapping system of example 14, wherein identifying thelevel of moisture in the section of terrain includes determining a depthof the body of water.18. The terrain mapping system of example 14, wherein generating thethree-dimensional terrain map includes identifying a path for thevehicle to circumvent the body of water.19. A tangible, non-transitory computer-readable medium storinginstructions that, when executed by a terrain mapping system, cause theterrain mapping system to perform operations comprising:

identifying, based on data received from a sensor system, a digitalcamera, and a positioning system, a ground surface topography for asection of terrain;

identifying, based on the data received from the sensor system, digitalcamera, and positioning system, a topography of vegetation on thesection of terrain; and

generating a two-dimensional representation of a three-dimensionalterrain map, the three-dimensional terrain map including the groundsurface topography for the section of terrain and the topography ofvegetation on the section of terrain.

20. A method comprising:

identifying, by a terrain mapping system based on data received from asensor system, a digital camera, and a positioning system, a groundsurface topography for a section of terrain;

identifying, by the terrain mapping system based on the data receivedfrom the sensor system, digital camera, and positioning system, atopography of vegetation on the section of terrain; and

generating, by the terrain mapping system, a two-dimensionalrepresentation of a three-dimensional terrain map, the three-dimensionalterrain map including the ground surface topography for the section ofterrain and the topography of vegetation on the section of terrain.

21. A vehicle control system comprising:

a processor;

a sensor system coupled to the processor;

a positioning system coupled to the processor for determining locationdata for the vehicle; and

memory coupled to the processor and storing instructions that, whenexecuted by the processor, cause the vehicle control system to performoperations comprising:

-   -   determining a position of a vehicle coupled to the vehicle        control system based on the location data from the positioning        system;    -   identifying a three-dimensional terrain map associated with the        position of the vehicle;    -   determining a path for the vehicle based on the        three-dimensional terrain map;    -   identifying a terrain feature based on data from the sensor        system; and    -   modifying or maintaining the path of the vehicle based on the        identified terrain feature.        22. The vehicle control system of example 21, wherein the        vehicle control system further comprises a steering control        system for controlling operation of the vehicle.        23. The vehicle control system of example 22, wherein the        steering control system is adapted to drive and steer the        vehicle along the determined path.        24. The vehicle control system of example 21, further comprising        a display coupled to the processor, wherein determining the path        for the vehicle includes displaying a two-dimensional        representation of the three-dimensional map on the display.        25. The vehicle control system of example 23, wherein        determining the path for the vehicle includes displaying a        visual representation of the path in conjunction with the        display of the three-dimensional map on the display.        26. The vehicle control system of example 21, wherein modifying        or maintaining the path of the vehicle based on the identified        terrain feature includes determining an expected time for the        vehicle to traverse or avoid the identified terrain feature.        27. The vehicle control system of example 21, wherein modifying        or maintaining the path of the vehicle based on the identified        terrain feature includes determining whether the identified        terrain feature is traversable by the vehicle.        28. The vehicle control system of example 21, wherein the sensor        system includes one or more of: an accelerometer, a gyroscopic        sensor, and a magnetometer.        29. The vehicle control system of example 28, wherein the sensor        system includes an accelerometer and wherein identifying the        terrain feature includes identifying a roughness level of the        terrain based on data from the accelerometer.        30. The vehicle control system of example 29, wherein modifying        or maintaining the path of the vehicle based on the identified        terrain feature includes determining a speed for the vehicle        based on the roughness level of the terrain.        31. The vehicle control system of example 28, wherein the sensor        system includes a gyroscopic sensor, and identifying the terrain        feature includes determining one or more of: a roll angle for        the vehicle, a pitch angle for the vehicle, and a yaw angle for        the vehicle.        32. The vehicle control system of example 21, wherein        determining the path of the vehicle includes:

identifying a terrain feature comprising a slope;

identifying a steepness of the slope; and

determining whether the slope of the terrain feature is traversable bythe vehicle.

33. The vehicle control system of example 21, wherein determining thepath of the vehicle includes:

identifying vegetation to be planted by the vehicle on at least aportion of terrain depicted in the three-dimensional terrain map;

determining a water management process for irrigating the vegetation;and

determining the path of the vehicle to plant the vegetation thatcorresponds with the water management process.

34. The vehicle control system of example 21, wherein determining thepath of the vehicle includes:

determining a respective expected fuel consumption rate for each of aplurality of potential paths for the vehicle; and

determining the path of the vehicle based on the determined fuelconsumption rates.

35. The vehicle control system of example 21, wherein determining thepath of the vehicle includes:

determining a respective expected time for the vehicle to traverse eachof a plurality of potential paths for the vehicle; and

determining the path of the vehicle based on the determined traversaltimes.

36. The vehicle control system of example 21, wherein determining thepath of the vehicle includes:

comparing the terrain feature identified based on the sensor data to acorresponding terrain feature in the three-dimensional map; and

modifying a feature of the corresponding terrain feature in thethree-dimensional map based on the identified terrain feature.

37. The vehicle control system of example 21, wherein determining thepath of the vehicle includes:

identifying a boundary of an area to be traversed by the vehicle;

determining a turn radius of the vehicle; and

determining the path of the vehicle to traverse the identified areawithin the turn radius of the vehicle and without colliding with theboundary.

38. The vehicle control system of example 21, wherein determining thepath of the vehicle includes identifying one or more points along thepath at which to engage or disengage a feature of an implement coupledto the vehicle.

39. A tangible, non-transitory computer-readable medium storinginstructions that, when executed by a vehicle control system, cause thevehicle control system to perform operations comprising:

determining a position of a vehicle coupled to the vehicle controlsystem based on location data from a positioning system;

identifying a three-dimensional terrain map associated with the positionof the vehicle;

determining a path for the vehicle based on the three-dimensionalterrain map;

identifying a terrain feature based on data from a sensor system; and

modifying or maintaining the path of the vehicle based on the identifiedterrain feature.

40. A method comprising:

determining, by a vehicle control system, a position of a vehiclecoupled to the vehicle control system based on location data from apositioning system;

identifying, by the vehicle control system, a three-dimensional terrainmap associated with the position of the vehicle;

determining, by the vehicle control system, a path for the vehicle basedon the three-dimensional terrain map;

identifying, by the vehicle control system, a terrain feature based ondata from a sensor system; and

modifying or maintaining the path of the vehicle, by the vehicle controlsystem, based on the identified terrain feature.

41. A vehicle implement control system comprising:

a processor;

a sensor system coupled to the processor; and

memory coupled to the processor and storing instructions that, whenexecuted by the processor, cause the vehicle implement control system toperform operations comprising:

-   -   identifying one or more features of a section of terrain based        on: a three-dimensional map including the section of terrain,        and data from the sensor system;    -   determining a position of the vehicle implement based on data        from the sensor system and the one or more identified terrain        features; and    -   modifying a function of the vehicle implement based on the one        or more identified terrain features and the position of the        vehicle implement.        42. The vehicle implement control system of example 41, wherein        the vehicle implement includes one or more of: a seeder, a        fertilizer spreader, a plow, a disc, a combine, baler, a rake, a        mower, a harrow bed, a tiller, a cultivator, a pesticide        sprayer, a mulcher, a grain cart, a trailer, and a conditioner.        43. The vehicle implement control system of example 41, wherein        the vehicle implement is integrated with a vehicle.        44. The vehicle implement control system of example 41, wherein        the vehicle implement is coupled to a vehicle.        45. The vehicle implement control system of example 41, wherein        the vehicle implement comprises a portion that is adjustable,        and wherein modifying the function of the vehicle implement        includes adjusting the portion of the vehicle implement.        46. The vehicle implement control system of example 45, wherein        the adjustable portion of the vehicle implement is adapted to be        raised or lowered, and wherein modifying the function of the        vehicle implement includes raising or lowering the portion of        the vehicle implement based on a height of a determined terrain        feature.        47. The vehicle implement control system of example 41, further        comprising a positioning system coupled to the processor,        wherein determining the position of the vehicle implement is        further based on data from the positioning system.        48. The vehicle implement control system of example 47, wherein        the positioning system includes a global navigation satellite        system (GNSS) and does not include an inertial navigation system        (INS).        49. The vehicle implement control system of example 48, wherein        identifying one or more terrain features includes comparing the        three-dimensional terrain map to data from the GNSS and data        from the sensor system.        50. The vehicle implement control system of example 49, wherein        identifying the one or more features of the terrain includes        modifying the three-dimensional map in response to comparing the        three-dimensional terrain map to data from the GNSS and data        from the sensor system.        51. The vehicle implement control system of example 41, wherein        the vehicle implement is coupled to a vehicle, and wherein        determining the position of the vehicle implement includes:

determining a size, shape, and weight for the vehicle implement; and

identifying an articulation angle between the vehicle and the vehicleimplement.

52. The vehicle implement control system of example 41, wherein thesensor system includes one or more of: a radar sensor, a lidar sensor,and an imaging device.

53. The vehicle implement control system of example 41, wherein thevehicle implement is coupled to a vehicle, and wherein modifying thefunction of the vehicle implement includes:

identifying a first path of the vehicle across the section of terrain;

identifying a second path of the vehicle implement across the section ofterrain, wherein the first path and the second path are different; and

modifying the function of the vehicle implement based on the differencebetween the first path and the second path.

54. The vehicle implement control system of example 53, whereinmodifying the function of the vehicle implement includes moving aportion of the vehicle implement to avoid collision with a terrainfeature that is in the second path but is not in the first path.55. The vehicle implement control system of example 54, wherein theterrain feature avoided by moving the portion of the vehicle implementincludes one or more of: a hole, a furrow, a body of water, and anobstacle extending above a ground plane of the terrain.56. The vehicle implement control system of example 41, wherein thevehicle implement is coupled to a vehicle, and wherein determining theposition of the vehicle implement is further based on receiving, from asystem coupled to the vehicle, a current velocity of the vehicle and acurrent heading of the vehicle.57. The vehicle implement control system of example 56, whereindetermining the position of the vehicle implement includes determining acurrent heading of the vehicle implement.58. The vehicle implement control system of example 57, whereinmodifying the function of the vehicle implement is further based ondetermining that the current heading of the vehicle is different fromthe current heading of the vehicle implement.59. A tangible, non-transitory computer-readable medium storinginstructions that, when executed by a vehicle implement control system,cause the vehicle implement control system to perform operationscomprising:

identifying one or more features of a section of terrain based on: athree-dimensional map including the section of terrain, and data from asensor system;

determining a position of the vehicle implement based on data from thesensor system and the one or more identified terrain features; and

modifying a function of the vehicle implement based on the one or moreidentified terrain features and the position of the vehicle implement.

60. A method comprising:

identifying, by a vehicle implement control system, one or more featuresof a section of terrain based on: a three-dimensional map including thesection of terrain, and data from a sensor system;

determining, by the vehicle implement control system, a position of thevehicle implement based on data from the sensor system and the one ormore identified terrain features; and

modifying, by the vehicle implement control system, a function of thevehicle implement based on the one or more identified terrain featuresand the position of the vehicle implement.

61. A vehicle control system comprising:

a processor;

a sensor system coupled to the processor;

a positioning system coupled to the processor for determining locationdata for the vehicle; and

memory coupled to the processor and storing instructions that, whenexecuted by the processor, cause the vehicle control system to performoperations comprising:

-   -   determining a position of the vehicle based on the location data        from the positioning system;    -   identifying a three-dimensional terrain map associated with the        position of the vehicle;    -   determining a path for the vehicle based on the        three-dimensional terrain map;    -   determining, based on data from the sensor system and the        three-dimensional terrain map, a level of moisture associated        with a section of terrain along the path of the vehicle; and    -   in response to determining the level of moisture associated with        the section of terrain, performing one or more of: adjusting a        feature of the vehicle prior to traversing the section of        terrain, and modifying the path of the vehicle prior to        traversing the section of terrain.        62. The vehicle control system of example 61, wherein        determining the level of moisture associated with the section of        terrain includes determining whether the section of terrain is        traversable by the vehicle without slipping.        63. The vehicle control system of example 62, wherein        determining whether the section of terrain is traversable by the        vehicle includes determining a degree of slippage the vehicle is        likely to experience traversing the section of terrain.        64. The vehicle control system of example 63, wherein        determining whether the section of terrain is traversable by the        vehicle further includes a rate of fuel consumption associated        with the degree of slippage.        65. The vehicle control system of example 61, wherein the memory        further stores instructions for causing the vehicle control        system to measure slippage of the vehicle while traversing the        section of terrain.        66. The vehicle control system of example 61, wherein adjusting        the feature of the vehicle includes inflating or deflating a        tire coupled to the vehicle.        67. The vehicle control system of example 61, wherein modifying        the path of the vehicle includes:

identifying a first expected weight associated with the vehicle at afirst point on the path of the vehicle;

identifying a second expected weight associated with the vehicle at asecond point on the path of the vehicle, the second weight beingdifferent than the first weight; and

modifying the path of the vehicle to traverse the section of terrainwhen the vehicle is associated with the second expected weight.

68. The vehicle control system of example 67, wherein the second weightis less than the first weight.

69. The vehicle control system of example 68, wherein the second weightis less than the first weight due to consumption or distribution of amaterial carried by the vehicle or a vehicle implement coupled to thevehicle along the path of the vehicle.

70. The vehicle control system of example 67, wherein the second weightis greater than the first weight.

71. The vehicle control system of example 68, wherein the second weightis greater than the first weight due to addition of a material carriedby the vehicle or a vehicle implement coupled to the vehicle along thepath of the vehicle.

72. The vehicle control system of example 61, wherein modifying the pathof the vehicle includes avoiding the section of terrain.

73. The vehicle control system of example 61, wherein the sensor systemincludes an imaging device, and wherein determining the level ofmoisture associated with a section of terrain includes:

capturing a first image of at least a portion of the section of theterrain at a first resolution using the imaging device;

capturing a second image of at least a portion of the section of theterrain at a second resolution using the imaging device;

capturing a third image of at least a portion of the section of theterrain at a third resolution using the imaging device, wherein thefirst resolution is greater than the second resolution, and the secondresolution is greater than the third resolution; and

geo-referencing the first, second, and third images based on data fromthe positioning system and the three-dimensional terrain map.

74. The vehicle control system of example 61, wherein determining thelevel of moisture associated with the section of terrain includesidentifying a depression in the section of terrain based on thethree-dimensional terrain map.

75. The vehicle control system of example 61, wherein determining thelevel of moisture associated with the section of terrain includesanalyzing weather data indicating an actual or forecast level ofprecipitation associated with the section of terrain.

76. The vehicle control system of example 61, wherein the sensor systeman image capturing device, and wherein determining the level of moistureassociated with the section of terrain includes performing an imagerecognition process on an image of the section of terrain captured bythe image capturing device.77. The vehicle control system of example 61, wherein the vehiclecontrol system further comprises a steering control system adapted todrive and steer the vehicle along the determined path.78. The vehicle control system of example 61, further comprising adisplay coupled to the processor, wherein determining the path for thevehicle includes displaying a two-dimensional representation of thethree-dimensional map, and a visual representation of the path inconjunction with the three-dimensional map, on the display.79. A tangible, non-transitory computer-readable medium storinginstructions that, when executed by a vehicle control system, cause thevehicle control system to perform operations comprising:

determining a position of the vehicle based on the location data from apositioning system;

identifying a three-dimensional terrain map associated with the positionof the vehicle;

determining a path for the vehicle based on the three-dimensionalterrain map;

determining, based on data from a sensor system and thethree-dimensional terrain map, a level of moisture associated with asection of terrain along the path of the vehicle; and

in response to determining the level of moisture associated with thesection of terrain, performing one or more of: adjusting a feature ofthe vehicle prior to traversing the section of terrain, and modifyingthe path of the vehicle prior to traversing the section of terrain.

80. A method comprising:

determining a position of a vehicle based on location data from apositioning system; identifying a three-dimensional terrain mapassociated with the position of the vehicle;

determining a path for the vehicle based on the three-dimensionalterrain map;

determining, based on data from a sensor system and thethree-dimensional terrain map, a level of moisture associated with asection of terrain along the path of the vehicle; and

in response to determining the level of moisture associated with thesection of terrain, performing one or more of: adjusting a feature ofthe vehicle prior to traversing the section of terrain, and modifyingthe path of the vehicle prior to traversing the section of terrain.

Example 81 may include an apparatus comprising means to perform one ormore elements of a method described in or related to any of examples1-80, or any other method or process described herein.

Example 82 may include one or more non-transitory computer-readablemedia comprising instructions to cause an electronic device, uponexecution of the instructions by one or more processors of theelectronic device, to perform one or more elements of a method describedin or related to any of examples 1-80, or any other method or processdescribed herein.

Example 83 may include an apparatus comprising logic, modules, orcircuitry to perform one or more elements of a method described in orrelated to any of examples 1-80, or any other method or processdescribed herein.

Example 84 may include a method, technique, or process as described inor related to any of examples 1-80, or portions or parts thereof.

Example 85 may include an apparatus comprising: one or more processorsand one or more computer-readable media comprising instructions that,when executed by the one or more processors, cause the one or moreprocessors to perform the method, techniques, or process as described inor related to any of examples 1-80, or portions thereof.

Example 86 may include a vehicle control system, a vehicle implementcontrol system, or a terrain mapping system adapted to perform a method,technique, or process as described in or related to any of examples1-80, or portions or parts thereof.

Some of the operations described above may be implemented in softwareand other operations may be implemented in hardware. One or more of theoperations, processes, or methods described herein may be performed byan apparatus, device, or system similar to those as described herein andwith reference to the illustrated figures.

“Computer-readable storage medium” (or alternatively, “machine-readablestorage medium”) used in control system 100 may include any type ofmemory, as well as new technologies that may arise in the future, aslong as they may be capable of storing digital information in the natureof a computer program or other data, at least temporarily, in such amanner that the stored information may be “read” by an appropriateprocessing device. The term “computer-readable” may not be limited tothe historical usage of “computer” to imply a complete mainframe,mini-computer, desktop, wireless device, or even a laptop computer.Rather, “computer-readable” may comprise storage medium that may bereadable by a processor, processing device, or any computing system.Such media may be any available media that may be locally and/orremotely accessible by a computer or processor, and may include volatileand non-volatile media, and removable and non-removable media.

Examples of systems, apparatus, computer-readable storage media, andmethods are provided solely to add context and aid in the understandingof the disclosed implementations. It will thus be apparent to oneskilled in the art that the disclosed implementations may be practicedwithout some or all of the specific details provided. In otherinstances, certain process or methods also referred to herein as“blocks,” have not been described in detail in order to avoidunnecessarily obscuring the disclosed implementations. Otherimplementations and applications also are possible, and as such, thefollowing examples should not be taken as definitive or limiting eitherin scope or setting.

References have been made to accompanying drawings, which form a part ofthe description and in which are shown, by way of illustration, specificimplementations. Although these disclosed implementations are describedin sufficient detail to enable one skilled in the art to practice theimplementations, it is to be understood that these examples are notlimiting, such that other implementations may be used and changes may bemade to the disclosed implementations without departing from theirspirit and scope. For example, the blocks of the methods shown anddescribed are not necessarily performed in the order indicated in someother implementations. Additionally, in other implementations, thedisclosed methods may include more or fewer blocks than are described.As another example, some blocks described herein as separate blocks maybe combined in some other implementations. Conversely, what may bedescribed herein as a single block may be implemented in multiple blocksin some other implementations. Additionally, the conjunction “or” isintended herein in the inclusive sense where appropriate unlessotherwise indicated; that is, the phrase “A, B or C” is intended toinclude the possibilities of “A,” “B,” “C,” “A and B,” “B and C,” “A andC” and “A, B and C.”

Having described and illustrated the principles of a preferredembodiment, it should be apparent that the embodiments may be modifiedin arrangement and detail without departing from such principles. Claimis made to all modifications and variation coming within the spirit andscope of the following claims.

What is claimed is:
 1. A terrain mapping system for a vehicle, theterrain mapping system comprising: wherein the vehicle includes: asensor system for collecting three-dimensional terrain data, the sensorsystem including a rotating lidar system, an array of static laserbeams, and/or a stereo camera based on two or more cameras; apositioning system for determining location data for the vehicle, thepositioning system comprising a global navigation satellite system(GNSS) receiver or a local positioning system; wherein the terrainmapping system includes memory coupled to a processor and storinginstructions that, when executed by the processor, cause the terrainmapping system to perform operations comprising: identifying a groundsurface topography for a section of terrain and a topography ofvegetation on the section of terrain, wherein the topographies are basedon data generated by the sensor system and the positioning system, asthe vehicle is driven and steered along a path according to control datatransmitted to a steering control system of the vehicle, wherein thepath is determined based on a first three-dimensional terrain map;generating a second three-dimensional terrain map, the secondthree-dimension terrain map including the ground surface topography forthe section of terrain and the topography of vegetation on the sectionof terrain; characterized in that the generating the secondthree-dimensional terrain map includes identifying a plurality ofobjects within the section of terrain on the second three-dimensionalterrain map, wherein a visual indicator is presentable, by the vehicle,on the second three-dimensional terrain map for each respective objectrepresenting whether the object is traversable by the vehicle; andproviding the second three-dimensional terrain map to the vehicle or adifferent vehicle for avoiding non-traversable ones of the objects basedon the second three-dimensional map.
 2. The terrain mapping system ofclaim 1, wherein the topographies are identified based on identifying aheight of a portion of the vehicle above the ground surface.
 3. Theterrain mapping system of claim 1, wherein the topographies areidentified based on measuring, by the sensor system, the terrain surfacerelative to a sensor mounting pose on the vehicle.
 4. The terrainmapping system of claim 1, wherein the topographies are identified basedon determining, by the array of laser beams, the height of crops plantedon a section of terrain relative to the surface of the ground.
 5. Theterrain mapping system of claim 1, wherein the topographies areidentified based on an image captured in an infrared or near-infraredspectrum the operations further comprise adjusting a feature of thevehicle prior to traversing the section of the terrain.
 6. The terrainmapping system of claim 5, wherein the topographies are identified basedon identifying, by an accelerometer of the sensor system, a terrainfeature by identifying a roughness level of the terrain based on datafrom the accelerometer as the vehicle passes over the terrain adjusting.7. The terrain mapping system of claim 1, wherein the topographies areidentified based on identifying, by a gyroscopic sensor the sensorsystem, a terrain feature by determining one or more of a roll angle forthe vehicle, a pitch angle for the vehicle, and a yaw angle for thevehicle.
 8. A method comprising: identifying a ground surface topographyfor a section of terrain and a topography of vegetation on the sectionof terrain, wherein the topographies are based on data generated by asensor system and a positioning system of a vehicle, as the vehicle isdriven and steered along an original path according to an originalcontrol data transmitted to a steering control system of the vehicle;wherein the positioning system includes a global navigation satellitesystem (GNSS) receiver or a local positioning system; generating asecond three-dimensional terrain map, the second three-dimensionalterrain map including the ground surface topography for the section ofterrain and the topography of vegetation on the section of terrain;characterized in that the generating the second three-dimensionalterrain map includes identifying a plurality of objects within thesection of terrain on the three-dimensional terrain map, wherein avisual indicator is presentable, by the vehicle, on the second-threedimensional terrain map for each respective object representing whetherthe object is traversable by the vehicle; and providing the secondthree-dimensional terrain map to the vehicle or a different vehicle foravoiding non-traversable ones of the objects based on the secondthree-dimensional map.
 9. The method of claim 8, further comprisingidentifying a height of a portion of the vehicle above the groundsurface, wherein the topographies are identified based on the identifiedheight.
 10. The method of claim 9, further comprising measuring, by thesensor system, the terrain surface relative to a sensor mounting pose onthe vehicle, wherein the topographies are identified based on themeasurement.
 11. The method of claim 8, further comprising determining,by an array of laser beams of the sensor system, the height of cropsplanted on a section of terrain relative to the surface of the ground,wherein the topographies are identified based on the determined height.12. The method of claim 8, further comprising capturing an image in aninfrared or near-infrared spectrum, wherein the topographies areidentified based on the captured image.
 13. The method of claim 8,further comprising identifying, by an accelerometer of the sensorsystem, a terrain feature by determining a roughness level of theterrain based on data from the accelerometer as the vehicle passes overthe terrain, wherein the topographies are identified based on theterrain feature determined by the roughness level.
 14. The method ofclaim 8, further comprising identifying, by a gyroscopic sensor thesensor system, a terrain feature by determining one or more of a rollangle for the vehicle, a pitch angle for the vehicle, and a yaw anglefor the vehicle, wherein the topographies are identified based on theterrain feature determined by the one or more of the roll angle, pitchangle, and yaw angle.